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Joint role exploration in sagittal balance by optimizing feedback gains

Published online by Cambridge University Press:  31 January 2014

Dengpeng Xing  and
Jianbo Su
Dengpeng Xing*
Affiliation:
Institute of Automation, Chinese Academy of Sciences, Beijing, China
Jianbo Su
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China
*
*Corresponding author. E-mail: xingdengpeng@hotmail.com
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Summary

This paper investigates the contributions of each joint in perturbed balance by employing multiple balance strategies and exploring gain scheduling. Hybrid controllers are developed for sagittal standing in response to constant pushes, and a hypothesis is then investigated that postural feedback gains in standing balance should change with perturbation size via an optimization approach. Related research indicates the roles of each joint: the ankles apply torque to the ground, the hips and/or arms generate horizontal ground forces, and the knees and hips squat. To investigate it from an optimization point of view, this paper uses a horizontal push of a given size, direction, and location as a perturbation, and optimizes controllers for different push sizes, directions, and locations. It applies to the ankle, hip, squat, and arm swinging strategies in standing balance. By comparing the capability of handling disturbances and investigating the feedback gains of each strategy, this paper quantitatively analyzes the contributions of each joint to perturbed balance. We believe this work is also instructive to study the progressive behavioral changes as the model gets more and more complex.

Keywords

Joint rolesPerturbed balanceOptimizationBalance strategy

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 1 , January 2015 , pp. 127 - 139
Copyright
Copyright © Cambridge University Press 2014 

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